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Support for List, Open, Read, Terminate commands

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Fixed various bugs. Flattened Mavlink::Session class while fixing bugs
in this area.
This commit is contained in:
Don Gagne
2014-06-27 20:33:39 -07:00
parent 7546b99a24
commit a398d5cbcc
4 changed files with 121 additions and 134 deletions
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src/modules/mavlink/mavlink_ftp.h
+12 -21
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@@ -115,27 +115,11 @@ private:
kErrPerm
};
class Session
{
public:
Session() : _fd(-1) {}
int _findUnusedSession(void);
bool _validSession(unsigned index);
static int allocate();
static Session *get(unsigned index);
static bool terminate(unsigned index);
static void reset();
void terminate();
bool open(const char *path, bool create);
int read(off_t offset, uint8_t *buf, uint8_t count);
int append(off_t offset, uint8_t *buf, uint8_t count);
private:
static const unsigned kMaxSession = 2;
static Session _sessions[kMaxSession];
int _fd;
};
static const unsigned kMaxSession = 2;
int _session_fds[kMaxSession];
class Request
{
@@ -163,7 +147,11 @@ private:
unsigned len = mavlink_msg_encapsulated_data_pack_chan(_mavlink->get_system_id(), _mavlink->get_component_id(),
_mavlink->get_channel(), &msg, sequence(), rawData());
if (!_mavlink->message_buffer_write(&msg, len)) {
_mavlink->lockMessageBufferMutex();
bool fError = _mavlink->message_buffer_write(&msg, len);
_mavlink->unlockMessageBufferMutex();
if (!fError) {
warnx("FTP TX ERR");
} else {
warnx("wrote: sys: %d, comp: %d, chan: %d, len: %d, checksum: %d",
@@ -211,6 +199,8 @@ private:
ErrorCode _workRead(Request *req);
ErrorCode _workWrite(Request *req);
ErrorCode _workRemove(Request *req);
ErrorCode _workTerminate(Request *req);
ErrorCode _workReset();
// work freelist
Request _workBufs[kRequestQueueSize];
@@ -232,4 +222,5 @@ private:
_qUnlock();
return req;
}
};